Abstract
In this paper, the direct kinematics transformation in parallel link systems, based on redundant sensing approach is addressed. The redundant sensory information is provided by additional position sensors, connected directly to the parallel structure in a parallel manner. Optimization of position and the number of redundant sensors is performed by a proposed Geometrical-Structure-Partitioning Method. The efficiency of the method is verified by two examples — type 3-3 and 6-3 spatial structures, where only one redundant sensor is identified as sufficient for unique closed-form solution of the direct kinematics problem.
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